README.md

---
pretty_name: dishsim assets — dishwasher sim worlds (ArtVIP v1 + Bosch 800 v2/v3 + preliminary Frigidaire v4)
license: other
license_name: mixed-per-component
license_link: https://github.com/shu4dev/dishsim#8-licenses--attribution
tags:
  - robotics
  - simulation
  - isaac-sim
  - motion-planning
---

# dishsim assets

Prebuilt asset and results archive for the **dishsim** project — a physics-validated
rearrangement-planning benchmark in an articulated dishwasher (Isaac Sim 4.5 / Isaac Lab 2.1).
Restoring this archive is the **fast path**: it ships every collision cache, derived USD,
settled benchmark instance and recorded result, so a fresh machine reproduces the shipped
experiments with **zero baking** (hours of Kit work per world, already done).

## One-command restore (no token needed)

From the project repo root, inside the runtime container (repo README §2):

```bash
scripts/run_py.sh scripts/tools/restore_assets.py --repo shu4dev/dishsim-assets
```

The restore downloads the current `assets` tarball (resolved via `latest.json`), safe-extracts
it, verifies every file against the tarball's sha256 manifest, re-downloads the ArtVIP
originals, hash-validates every collision cache against the checked-out `config.py`, and runs
the Kit-free test suite. `scripts/tools/bootstrap.sh` wraps this into the full bring-up.

Standalone machine assets are opt-in kinds (no cache pack needed):

```bash
scripts/run_py.sh scripts/tools/restore_assets.py --kinds models            # USD assets only
scripts/run_py.sh scripts/tools/restore_assets.py --kinds models evidence   # + Bosch evidence
```

## What the archive contains

- **v1 — ArtVIP compact machine** (the frozen mug baseline + multi-object episodes):
  built object props, all collision caches, derived machine USDs, baseline results.
- **v2 — Bosch 800 digital twin** (`assets/machines/bosch800/`,
  `assets/cache/machines/bosch800/`): self-authored parametric machine (full-travel racks,
  third rack, spray arms), collision caches for the benchmark rack states, the settled
  benchmark instances and algorithm records (`results/instances/`, `results/rearrange/`).
  The `assets` tarball is cut from the Isaac Sim 4.5 box the benchmark runs on; its E_door_4
  CoACD pieces already use the exact (unpreprocessed) decomposition, so no post-restore
  re-decompose is needed for tags dated 2026-09-10 or later.
- **v3 — standalone Bosch 800 asset** (`dishsim_models_*.tar.gz`; extracts to
  `assets/models/bosch800/`): an independently authored approximation of the Bosch 800
  SHP78CM5N — `bosch800.usdc` (PBR materials, rigid bodies, convex collision, four driven
  joints: `door_hinge`, `lower_slide`, `middle_slide`, `third_slide`), standalone
  `lower_rack.usdc` / `middle_rack.usdc` rigid-body exports, and `textures/`. Self-contained:
  no ArtVIP tree, robot, or cache needed; open it directly in Isaac Sim or reference
  `/Bosch800`. Metres, Z-up, front faces −Y, origin at the floor-footprint centre. It is a
  visual/manipulation asset (no fluid, dispensing, or foldable tines), not manufacturer CAD.
  Its validation evidence is the separate `dishsim_evidence_*.tar.gz` (~74 MB; extracts to
  `assets/evidence/bosch800/`): `validation.json` (PASS on Isaac Sim 6.0.1 / Isaac Lab 3.0 —
  motor-driven open/extend/retract/close cycle, dish settling, loaded-rack travel,
  contact-aware retrieval; re-validated under Isaac Sim 4.5 / Isaac Lab 2.1), stills, the
  articulation video, the two test dishes, and the superseded asset as `previous_asset.zip`.
  Full description: the repo's `docs/bosch800_asset.md`.
- **v4 — Frigidaire FDPC4221AS (preliminary)**, in the same `models` tarball
  (`assets/models/frigidaire_fdpc4221as/` and `assets/models/frigidaire_fdpc4221as_v2/`):
  two early revisions of an independently authored approximation of the Frigidaire
  FDPC4221AS — cabinet, door, upper/lower racks, silverware basket, an assembled
  `fdpc4221as.usdc`, an example scene, dish fixtures, and (v2) ten tableware prototypes with a
  settled full-load record. **Preliminary:** these carry the older 32/56-tine rack geometry and
  their dish loading is unvalidated; a 52/72-tine rebuild with fresh Isaac evidence is in
  progress and will supersede both. Each folder carries its own README, parameter and
  validation JSONs. Metres, Z-up, front −Y; not manufacturer CAD.
- `latest.json` — `files` maps each tarball KIND (`assets`, `media`, `models`, `evidence`)
  to its current tarball; `restore_assets.py --kinds ...` follows it. Uploads merge into it,
  so kinds not re-cut keep resolving to their existing tarball. `media` tarballs from 2026-08
  remain for reference only; the current restore extracts `assets/` members alone.

Tarballs cut from 2026-09 on carry a per-file sha256 in their `MANIFEST.json`; the restore
verifies every extracted file against it (older tarballs extract unverified).

Tarballs are named `dishsim_{assets,media,models,evidence}_<date>_<gitsha>.tar.gz`; the git
SHA ties each archive to the repo revision whose `config.py` its cache hashes were computed
against — restore against that revision (or newer, if the hashed config values are unchanged).
Older tarballs stay in the repo unreferenced; `latest.json` is the only pointer that matters.

## Immediately after restore

```bash
# regenerate a settled benchmark cell and run the greedy baseline on it — no baking needed
scripts/run_kit.sh scripts/setup/gen_instances.py --headless --cell medium --n 3 --seed 0
scripts/run_kit.sh scripts/experiment/run_rearrange.py --headless \
    --instances "results/instances/bosch800/placement/*.json" --algorithms greedy
```

## Licenses

Mixed, per component — see the repo's README §8: ArtVIP dishwasher (Apache-2.0),
YCB-scan-derived objects (YCB dataset terms), project-authored procedural props/racks/
caches (project license). No robot USD is in this archive. The v3 Bosch 800 and v4
Frigidaire assets (geometry and generated textures) are project-authored under BSD-3-Clause;
Bosch and Frigidaire names identify the reference products only — the assets are not made or
endorsed by either manufacturer, and no downloaded product photographs are included.